In emergency situations, it is crucial to locate first responders within buildings to ensure their safety, especially in dangerous environments such as burning buildings where the indoor surroundings can rapidly change, potentially trapping first responders. Knowing the precise location of first responders while they are in the building allows for additional personnel or resources to be deployed, which can greatly benefit their overall safety. However, existing location determination technologies, such as GPS, are unreliable and relatively inaccurate as a location determination method in indoor structures due to signal obstruction. Other indoor location-tracking systems on the market come with varying advantages but do not meet the demands for versatility, dependability, and accuracy essential to first-responder tracking. Therefore, there is an unmet need for highly accurate location tracking systems for first responders that could greatly benefit from such technology. AdaptiTrace meets the accuracy and versatility needs required for first responder tracking technology by using a combination of novel robotic localization technologies and custom-designed algorithms for highly accurate, reliable, and versatile XYZ three-dimensional positioning. Unlike other indoor location-tracking systems on the market, AdaptiTrace's system does not require complex infrastructure to be installed in a building prior to usage for tracking. Instead, AdaptiTrace has developed a set of revolutionary standalone indoor location tracking and systems through their sensor fusion technology. AdaptiTrace applies principles from the latest robotics localization and mapping technologies to map and track first responders' XYZ location dynamically in real-time. The AdaptiTrace system consists of wearable sensor systems equipped on first responder units that are mounted on common equipment such as air packs and helmets. When first responders enter a building, AdaptiTrace's systems can localize their precise position in 3D and map their position with high accuracy (with a margin of error of about 20-50 cm) in real-time. AdaptiTrace achieves this high level of location tracking accuracy through algorithms and calculations from a combination of various sensor data. Through this sensor-fusion technology, AdaptiTrace can accurately determine the XYZ position of multiple first responders, even in the largest and most complex indoor structures. Additionally, AdaptiTrace's software system dynamically generates a multilayered 3D map as first responders move through a building, enabling intuitive visualization and analysis of the first-responder team's distribution within a building. AdaptiTrace is collaborating with seven first responder partners located throughout the east coast of the United States to develop a breakthrough solution that meets the needs of first responders across the country.

The Banc3 X-track is a unique wearable tracking system for first responders that can track wearers in three dimensions outdoors, indoors, below grade, and in other GPS-denied environments. It requires no existing infrastructure to operate and can scale from one operator to an entire department. Our unique on-truck ultrawide-band anchor system combined with our AI-enhanced motion tracking algorithms allow departments to roll up on scene and instantly track everyone’s location leading to enhanced safety, productivity, and efficiency. BANC3’s approach combines UWB (Ultra-wideband) with AI-enhanced IMU motion tracking to create a first responder tracking system that works through walls, below grade, and at long range. Our UWB tracking provides a stable reference point in GPS-denied environments, offering 3D tracking under the most challenging conditions. When walls or distance make UWB untenable, our tags stream back IMU data processed by our machine learning algorithms, removing the effect of drift, noise, and error common to motion-based tracking. The X-track shifts the algorithmic processing off to the truck over our standards-based wireless mesh network, which allows us to design first responder trackers that are lighter, cheaper, and less obtrusive. Back at the truck, our software processes the UWB and IMU input data, producing a platform and language-agnostic serialized message stream with first responder position data. This published stream allows any visualization platform to subscribe to and consume 3D position data. Our system can support simple local graphing for engineering debug, our cloud-based first responder software, map position overlay, or any third-party solution. BANC3’s X-track provides an open platform that allows for integrating new tracking technologies using a similar serialized messaging stream. We have already demonstrated how we can use that to include GPS data or 6DoF SLAM data from our AR headsets. Our entire network is IP based, including our mesh-able 900MHz radio links. This network design approach allows us unprecedented flexibility in collecting, reporting and sharing position data inside and outside of our network. It also gives us the advantage of built-in security protocols like WPA2 or WPA3 and lets us leverage additional security through VPNs, SSH, and encrypted links. Our networks are self-forming. Once a tracker has been added to the wireless network, it can automatically detect UWB anchors and find on-truck receivers to start sending data to. Once it is processed, all of our position data is published using an open protocol in real-time, allowing multiple third-party clients to subscribe to our feed and create a visualization for commanders, such as our map overlay or augmented reality vision map. Our system can also be combined with other tools, such as CIVTAK, to drop markers warning of dangerous situations, mark victims, or plan routes through unstable structures. And we can use our First Responder software respond eye to pull position data into the cloud, where it can be shared with remote commanders, between police and fire, or across township boundaries. By providing an open and powerful system, BANC3 is revolutionizing first responder tracking while improving safety for the men and women who safeguard our lives. BANC3 is a small woman-owned business in Princeton, NJ. We develop advanced technology products for the commercial, government, and DoD markets, such as our X-track first responder tracking system, Thirdeye X2 Augmented Reality glasses and Respond-Eye first responder communication software.

For first responders such as firefighters, accurate locational tracking has been identified as a critical need. Knowing the exact location of individuals within an indoor structure (including the specific floor of a multi-floor building) during a search and rescue operation is vital to their safety. While GPS approaches are sufficient for many applications, it is impossible to use GPS to effectively locate people who are indoors or underground. During this project, the team will produce a marketable prototype that demonstrates indoor localization and tracking of first responders within 1-meter accuracy in a variety of buildings and structures without any pre-deployed infrastructure. The approach to indoor geolocation of individuals involves patented magneto-inertial technology and is based on low-cost MEMS sensors, expertly designed electronics, very precise calibration, and sophisticated dead reckoning and movement reconstruction algorithms. The solution will be optimized for real-world first responder use scenarios. In particular, the tracking device is a rugged but light-weight ankle-worn device and employs software which has been designed to be particularly intuitive and easy-to-use. The technology is protected by a portfolio of worldwide patents. The current version of the tracking device transmits data via Bluetooth to a smartphone. The smartphone then transmits (x,y,z) positions at a 1 Hz frequency to a back-end system via FirstNet, LTE/4G, or Wi-Fi. Any number of first responders can be tracked simultaneously. Real time visualization of positions and trajectories can be done remotely from any connected device, with only 3 second end-to-end latency. The device can also trigger “man-down” alerts when an individual’s lack of movement over a specified number of seconds is detected. Mid-term, a future device version will integrate the FirstNet/LTE/4G network connectivity and eliminate the need to carry a smartphone. The overall system, including the initialization of the devices and the software user interface, will be optimized for the use scenarios of interest, based upon direct first responder feedback. While mechanically robust, the solution will be accurate, easy-to-use, and cost-effective.

Every day, First Responders intervene to save our lives. But who ensures the safety of these agents during interventions? The location of first responders is essential to ensure their safety and optimize interventions. Many needs are identified, such as the ability to find endangered officer even without visibility, tracking and monitoring agents in real time and in all environments, identification of secured itinerary, etc. However, today, no commercialized solution meets the requirements of precise and reliable tracking of agents. Nav4you and Jade Tree proposes CHARLI (CHallenging AReas Localisation servIces) project. Our solution exploits an innovative foot-mounted location device merging inertial, magnetic and GNSS raw signals with artificial intelligence and innovative algorithms. Unlike commercially available solutions, CHARLI guarantees 3D sub-meter location accuracy without the need for a ground-based beacon infrastructure. Our device provides necessary elements to localise endangered agents in real time and detect incident regardless of the environment: it works outdoor and indoor. To achieve these performances, we use innovative algorithms to benefit from degraded GNSS data even inside buildings, where it is usually rejected. The temporal difference in magnetic fields makes it possible to obtain orientation information in buildings where a traditional compass does not work. These updates, based on signal analysis, guarantee the desired accuracy in any environment. In addition, a unique artificial intelligence-based model analyzes and detects a wide variety of human movements in real time. This model is used to adapt the algorithms to the environmental and dynamic context. A complete software offer including a supervision software, an optional smartphone user app and a post intervention analysis software complete the solution. The supervision software will allow the unit leader or control team to monitor the position of individual officers in real-time and to be alerted in case of an incident. The smartphone user app will allow the user to benefit from navigation services in some situations and the post-intervention analysis software will allow scenarios to be replayed and interventions to be optimized. Our solution is developed in partnership with professional firefighters in order to meet their specific requirements in the field. Thus, the constraints of cost, size, weight and resistance are integrated into the project. The solution is resistant, lightweight and easy to use. The problem of information transmission in underground or built environment is also addressed, thanks to the use of a low frequency RF communication gateway. However, our solution is also capable of communicating via Bluetooth and Wi-Fi, which allows the use of opportune signals when they are available. Nav4you is a spin-off of Geoloc laboratory from Gustave Eiffel University in France. The Geoloc laboratory, thanks to its involvement in a large number of international research projects, has become an international reference in the field of GNSS and navigation technologies. Nav4you benefits from a great expertise in the field of indoor localisation and cartography. Its innovative device and algorithms have won multiple awards. JADE TREE is a US company specialising in the development and sale of design accessories based on acoustic and thermal innovation. We believe that our CHARLI solution will adapt to the different use cases of first responders and will save lives.

NavigateIO is developing a real-time, visual, and accurate infrastructure-free location intelligence solution in 3-Dimensional space. NavigateIO works in GPS denied areas like indoors and rugged terrains and could be easily integrated with GPS enabled systems. In addition to tracking x and y-direction on each floor, the solution can also identify the floor of the first responder location. First responders are displayed with unique identifiers on the graphical user interface as separate floors for tracking purposes. Each first responder carries a wearable tracking beacon. By providing real-time situational awareness and trajectory data for digestion into different systems, NavigateIO ensures accountability of personnel and enables more efficient 4Cs (command, control, communications, and coordination) of a mission. Above results in significantly reduced response time that saves lives and properties. NavigateIO is an end-to-end system that can be deployed in an on-demand and ad hoc manner, making it perfect for real-time public safety/emergency response events. The system is portable and self-contained, so there is no significant overhead expenditure. NavigateIO is innovated by top talents in mobile wireless sensing, communication, and networking. The heart of the solution lies in intelligent sensor fusion and a unique algorithmic approach to solving this complex problem for first responders. Today, promising solutions can accurately track mobile entities indoors using visual-inertial odometry in favorable visual conditions or by leveraging fine-grained ranging (RF, ultrasonic, IR, etc.) to reference anchors. However, they cannot directly cater to "dynamic" indoor environments (e.g., first responder scenarios, etc.) devoid of favorable conditions. NavigateIO researchers have shown that the need for "infrastructure-free" and robustness to "node mobility" and "visual conditions" in such environments motivate a robust RF-based approach. Also, NavigateIO understood the need to address a novel and challenging variant of its infrastructure-free localization problem that is latency-bounded. Therefore, accurate tracking of mobile entities imposes a latency budget that affects the solution computation, and the collection of peer-to-peer ranges themselves. The design and deployment of NavigateIO address this latency-bounded infrastructure-free RF localization problem. To this end, NavigateIO unravels the fundamental tradeoff between latency and localization accuracy. NavigateIO incorporates design elements that judiciously leverage the available ranging resources to adaptively estimate the joint topology of nodes, coupled with robust algorithm that maximizes the localization accuracy even in the face of practical environmental artifacts (Wireless connectivity and multipath, node mobility, etc.). The above techniques allow NavigateIO to track (every second and improve) a network of a few tens of mobile entities even at running speeds with a median accuracy of a meter level currently and without infrastructure support. NavigateIO team is working hard to improve the above performance metrics with the constant refinement of the solution. NavigateIO team also understands the robustness and ruggedization needs for the harsh environment where first responders operate. NavigateIO's current prototype has held up reasonably in multiple firefighter tastings that involved working in a harsh environment. Through these learnings, our team has developed a plan to address any gaps in the durability, environmental (temperature, dust, water ingress), other anti-penetration needs, and still being able to function to meet the requirements of first responders' intelligent location tracking. Finally, the NavigateIO team has put much effort into making the whole workings and various interfaces extremely simple for first responders to keep the focus on their missions. NavigateIO has tested and validated our system in the field in different building types and environments and successfully passed various success criteria provided by first responder departments.

Ravenswood Solutions, Inc. (Ravenswood) is proud to team with our First Responder Partners (FRPs) in accepting the First Responder Smart Tracker (FRST) Challenge with the express goal of enhancing the daily capabilities and safety of First Responders nationwide and beyond. For this challenge, our team objective is increasing accuracy and availability of situational awareness during emergencies to maximize the time available to make critical decisions. To meet this goal, we believe the complex first responder environment requires more than what the market currently offers. In partnership with world-leading R&D institute SRI International and a team of public safety agencies from across the United States, we intend to field a solution that rapidly and regularly delivers accurate Time-Space-Position-Information (TSPI) without existing or pre-deployed infrastructure yet can leverage such infrastructure if it exists. Since being selected as one of the winners in Phase 1, Team Ravenswood has been working on developing a prototype GPS-Denied tracking device utilizing the highly accurate long-range vision tracking that is derived from our augmented reality training system for military Forward Observers. This training system needs to work outdoors within very large training areas, which stretches the accuracy limits of augmented reality technologies. To overcome this, Ravenwood uses SRI’s patented Camera-based Simultaneous Localization and Mapping (CamSLAM) software which determines the location of the training participant without infrastructure. For our Phase 3 submission, we have extracted that core CamSLAM technology, eliminating the augmented reality components, and repackaged it into a simpler self-contained prototype unit that is better suited for the FRST challenge requirements.

We at Rescunomics believe that the safety of the first responder is of utmost importance if any lives can be saved at emergency scenes. As first responders ourselves, we understand these pain points and we are committed to bringing innovative solutions to Global safety issues. For decades, firefighting and emergency first response has been pure grit strength and courage with limited tools to protect the rescuer during emergencies. Getting to the scene is easy with GPS navigation but we have failed to provide a pre-plan on what to expect at these scenes and when inside. Our teams’ solution finally solves this pain point by not only providing a means of tracking first responders cost-effectively without cumbersome equipment set-up but also eliminates the technological risk that a loss of power, a common event that is prevalent in these chaotic scenes, brings. Even other civilian occupants can also be tracked and rescued if they have smart phones on them. Our solution also provides first responders with a view of the interior layouts of the scene in structural firefighting; a history of that building and any modifications showing entry and egress points; hazardous contents as in the case of chemical storage warehouses. And most importantly with the push of a button, our assistive A.I. provides a security feature whereby building occupants; teachers or school administrators can send silent SOS signals in active shooter events directly to local law enforcement bypassing the traditional 911 dispatch call taker system, saving response times and lives in the process. Again, the fact that 60% of active shooter events ending before law enforcement arrives is indeed a cry for help and a call for proactive action. Victims will be able to view layout showing evacuation routes if they choose to evacuate in these chaotic events. Our solution also enables wildland firefighters to track themselves up to 30 meters in outdoor open spaces. Welcome to the future of emergency first response.

The Smart Firefighting team is composed of startups pushing innovations (Axle Box Innovations, SlateSafety, Longan Vision, Squishy Robotics, EaseAlert, FlowMSP), established industry players (3M Scott, Motorola), manufacturing and distribution partners (iCONN Systems, W. S. Darley & Co.), community builders (Smart Firefighting), research institutions (Texas A&M Engineering Extension Service, Illinois Fire Service Institute, Northeastern Illinois Public Safety Training Academy), and end-users (Jacksonville Fire and Rescue Department). Together, we are building the unifying dashboard for Incident Command - providing actionable insight into firefighters' health, environment, and location during structural burns. Location tracking has been a challenge for first responders, as GPS is often not accurate enough to ascertain a person’s location or elevation within a building. A 3D tracking technology that can provide 1-meter accuracy in an indoor setting is needed for first responders. However, we believe only knowing the first responder’s location is not sufficient without the awareness of their biometric information and environmental factors. Team Smart Firefighting aims to address localization and biometric monitoring during structural burns through our complementary technology which can be customized and retrofitted onto any equipment the fire department is currently using. Ascent’s platform generates floorplans, tracks firefighters on a multiple-story building along the X, Y, and Z axes, and identifies firefighters as they enter and exit the incident. Additionally, the platform notifies the Incident Command of detected maydays from falls or abnormalities via health and environmental alerts. The platform is compatible with all existing connected technologies on the fireground and serves as the primary tool for pre-planning as well as consolidating all the information needed for report-outs. The goal of our team is to bring first responders home safely to their families by providing biometric, environmental, and location insights to enhance interoperability and survivability. Ascent’s sensor equipment facilitates the streaming of thermal imaging, environmental conditions, location, and mapping back to Ascent’s dashboard. Ascent’s sensor equipment mounts onto existing Self-Contained Breathing Apparatuses (SBCAs), masks, or helmets without changing the base functionality of the personal protective equipment (PPE). Through the combined sensor input of Ascent’s sensor, the environmental conditions (e.g., environmental CO2, humidity, airborne metal oxide) and location (accelerometer, gyroscope, magnetometer, GPS, GLONASS, SBAS, WAAS, EGNOS, MSAS, GAGAN, environmental pressure, gait tracking, ML, and integration of firefighter training and behavior data) can be monitored. Through Slate Safety’s wearable, firefighter vitals (heart rate, O2 saturation, stress, body temperature), can be monitored and presented in a centralized and organized format to the Incident Command on Ascent’s platform for easy asset management. The information can also be replayed after the incident for training purposes, investigation, or review by clinicians or government officials. Our technology will improve the safety and productivity of firefighters on the ground. The team’s sensor modules and dashboard identify abnormal heart rates, provide simultaneous localization/mapping, and notify of potential hazards before they become a more serious problem. During the product development journey, we have been actively working with our first responder partners - Texas A&M Engineering Extension Service, Illinois Fire Service Institute, and Jacksonville Fire and Rescue Department, to assure our solution is addressing firefighters’ specific needs during firefighting missions and that the user experience is optimized for our heroes. The targeted 1-meter 3D indoor location tracking accuracy for this challenge will be achieved by 1) multiple sensor sources; 2) indoor structure mapping; 3) a machine learning model to predict indoor structure in real-time, and 4) integration of first responder training and behavior data.

Epic Blue aims to provide first responders with a highly robust operator 3D positioning wearable that can operate in both GPS and GPS denied environments. GPS-denied environments examples include indoor settings, tunnels, and caves. Outdoors, GPS can be intermittently available in forests, city canyons, valleys, and industrial sites. Epic Blue has developed a unique technology called Shyn to track first responders in these most difficult circumstances. Epic Blue brings this technology as an end-to-end product into the hands of the first responders. The story behind the Shyn project can be found here: https://vimeo.com/501740295 We have an unique approach to indoor positioning of first responders. At the heart of it lies the localisation engine, which makes a novel use of Artificial Intelligence, combined with advanced sensor fusion and edge computing to collect movement data and produce an accurate location. Shyn exploits IMU (inertial measurement) data to ensure continuous 3D positioning using a known location as a starting point. Shyn also supports GPS tracking and beacons. It automatically continues tracking when no GPS or beacon signal is sufficiently available. Shyn is robust and IP67 compliant. It features multi-functional LEDs and a programmable button. It has been designed for use with protective gloves in mind. Connectivity is assured over LTE-M, NB-IOT, 3/4G, Wi-Fi and Bluetooth.

“Mayday” is a universal distress message that no firefighters or first responders want to hear. These emergency responders use a “Mayday” message when they are trapped, low on air, and disorientated. According to the National Institute for Occupational Safety and Health (NIOSH), approximately 80 to 100 firefighters are lost in the line of duty each year. These public safety personnel often operate in very complex environments where GPS has significantly degraded accuracy or fails. Therefore, it is an immediate demand to have an accurate and robust 3D positioning system dedicated to firefighters to increase situational awareness and personal accountability.
Team ZOT<1m, located in Irvine, California, is a group of Ph.D. students, engineers, and firefighters who are dedicated to helping with solving this problem. We are developing a low-cost technology prototype that tracks the position of firefighters and first responders with 1-m accuracy along the x-, y-, and z-axis in a completely unknown environment. Our solution is a wearable system producing real-time localization solutions based on a promising indoor navigation technology that operates in a self-contained manner, does not require pre-deployed infrastructure, and provides consistently available localization solutions. The proposed approach is designed to improve the state-of-the-art indoor navigation technology by using augmentation with sensor fusion, machine learning, and Simultaneous Localization And Mapping (SLAM) approaches.
During Phase III of the FRST challenge, our team developed a proof-of-concept positioning prototype. We demonstrated that in a 6-min 270-m indoor navigation test, the prototype had a loop-closure error of 1.09 m. With the proposed solution, we aim to increase firefighters’ accountability and situational awareness, allowing incident commanders or firefighters to instantaneously monitor critical personnel locations while navigating between different building types and extreme environmental conditions.